About Me

Hi! I am Zixuan Chen (陈子璇). I received my Ph.D. degree from the School of Computer Science and Technology, Nanjing University (NJU) in March 2026, advised by Prof. Yang Gao and Assoc. Prof. Jing Huo. I will be joining the School of Intelligent Science and Technology, Nanjing University (Suzhou Campus).

Previously, I received my B.E. and M.E. degrees from Soochow University, School of Computer Science and Technology, under the supervision of Prof. Zongzhang Zhang. From Nov. 2024 to Nov. 2025, I was a visiting student at the National University of Singapore (NUS), working with Prof. Lin Shao.

🔬 Research Interests

My research focuses on Robot Learning, Reinforcement Learning, and Imitation Learning. I am particularly interested in:

• Long-horizon Manipulation: Leveraging prior knowledge (e.g., skill chaining, task decomposition) to solve complex, multi-stage tasks.
• Spatial Intelligence: Enabling robots to possess highly generalizable 3D spatial reasoning capabilities (e.g., 3D manipulation, world models).

🔥 News

📝 Selected Publications

(* equal contribution)

• AGiLe: Learning Robust Long-Horizon Manipulation via Affordance-Grounded Bidirectional Latent Planning
  Zixuan Chen, Xiangrong Feng, Jieqi Shi, Lin Shao, Jing Huo, Yang Gao.
  IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026.
• RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation
  Zixuan Chen, Nga Teng Chan, Yiwen Hou, Chenrui Tie, Zixuan Liu, Haonan Chen, Junting Chen, Jieqi Shi, Yang Gao, Jing Huo, Lin Shao.
  IEEE International Conference on Robotics and Automation (ICRA), 2026.
  📄 PDF
• DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation
  Zixuan Chen, Junhui Yin, Yangtao Chen, Jing Huo, Pinzhuo Tian, Jieqi Shi, Yiwen Hou, Yinchuan Li, Yang Gao.
  IEEE Robotics and Automation Letters (RAL), 2026.
  📄 PDF 🌐 Website 💻 Code
• ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation
  Zixuan Chen, Chongkai Gao, Lin Shao, Jieqi Shi, Jing Huo, Yang Gao.
  AAAI Conference on Artificial Intelligence (AAAI), 2026.
  📄 PDF
• RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation
  Zixuan Chen, Jing Huo, Yangtao Chen, Yang Gao.
  SCIENCE CHINA Information Sciences (SCIS), 2026.
  📄 PDF
• INHerit-SG: Incremental Hierarchical Semantic Scene Graphs with RAG-Style Retrieval
  YukTung Samuel Fang, Zhikang Shi, Jiabin Qiu, Zixuan Chen, Jieqi Shi, Hao Xu, Jing Huo, Yang Gao.
  arXiv preprint arXiv:2602.12971, 2026. (Best Presentation Finalist, ICRA 2026 Workshop on Robots Meet Prior Maps)
  📄 PDF 🌐 Website
• AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments
  Zixuan Chen*, W. Zhang*, J. Fang, R. Zeng, Z. Xu, Y. Hou, X. Wang, Jieqi Shi, Jing Huo, et al.
  arXiv preprint arXiv:2603.10616, 2026.
  📄 PDF 🌐 Website 💻 Code
• V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors
  Songjia He*, Zixuan Chen*, Hongyu Ding, D. Shao, Jieqi Shi, C. Li, Jing Huo, Yang Gao.
  arXiv preprint arXiv:2603.18811, 2026. (Best Paper Award, ICRA 2026 Workshop on Generative Digital Twins for Real2Sim and Sim2Real Transfer)
  📄 PDF
• ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulation
  Y. Wu*, Zixuan Chen*, C. Ou, W. Wang, W. Huang, L. Cao, Y. Chen, W. Qiu, X. Quan, et al.
  arXiv preprint arXiv:2603.13788, 2026.
  📄 PDF
• MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
  C. Li*, Zixuan Chen*, Y. Li, J. Xu, Hongyu Ding, Jieqi Shi, Jing Huo, Yang Gao.
  arXiv preprint arXiv:2603.08383, 2026.
  📄 PDF
• Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
  Hongyu Ding, S. Zhang, Z. Xu, J. Guo, H. Liu, X. Cheng, Zixuan Chen, H. Qi, D. Wang, et al.
  arXiv preprint arXiv:2605.27582, 2026.
  📄 PDF

• RoboHiMan: A Hierarchical Evaluation Paradigm for Compositional Generalization in Long-Horizon Manipulation
  Yangtao Chen*, Zixuan Chen*, Nga Teng Chan, Junting Chen, Junhui Yin, Jieqi Shi, Yang Gao, Yong-Lu Li, Jing Huo.
  arXiv preprint arXiv:2510.13149, 2025.
  📄 PDF 🌐 Website 💻 Code
• GravMAD: Grounded Spatial Value Maps Guided Action Diffusion for Generalized 3D Manipulation
  Yangtao Chen*, Zixuan Chen*, Junhui Yin, Jing Huo, Pinzhuo Tian, Jieqi Shi, Yang Gao.
  International Conference on Learning Representations (ICLR), 2025.
  📄 PDF 🌐 Website

• SCaR: Refining Skill Chaining for Long-Horizon Robotic Manipulation via Dual Regularization
  Zixuan Chen, Ze Ji, Jing Huo, Yang Gao.
  Conference on Neural Information Processing Systems (NeurIPS), 2024.
  📄 PDF
• Cognizing and Imitating Robotic Skills via a Dual Cognition-Action Architecture
  Zixuan Chen, Ze Ji, Shuyang Liu, Jing Huo, Yiyu Chen, Yang Gao.
  International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2024.
  📄 PDF

• TiLD: Third-person Imitation Learning by Estimating Domain Cognitive Differences of Visual Demonstrations
  Zixuan Chen, Wenbin Li, Yang Gao, Yiyu Chen.
  International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2023.
  📄 PDF

💻 Internships

• 2019.06 - 2019.10: Research Intern at NetEase Fuxi Lab, Hangzhou, China.